PID Controllers
PID Controller on Wikipedia
- P: “Proportional” to current error
- The farther away the motor is from its target, the faster it will move to reach it.
- Must be nonzero for motor to move at all. Common values range anywhere from 1 to 30, but start small (like 0.1).
- I: “Integral,” accumulation of past errors
- If the motor isn’t reaching its target position, over time it will try harder.
- Start with zero and only add if there are problems. Use small values (like 0.0001).
- D: “Derivative,” predicting future trend of error
- As the motor approaches its target it will slow down.
- Common values are around 3.